Control system, control mediation device, and control mediation method

A control mediation device that is included in a control system for controlling a control target by using a plurality of control services and that is configured to mediate individual command values that are commands from the control services, to the control target, the control mediation device comprising:

• a timestamping section that assigns, to each of the plurality of individual command values, an acquisition time indicating a time at which the individual command value was acquired;
• a command value sharing section that notifies the plurality of control services of command sharing information including the individual command values and the acquisition times;
• a timing instruction section that generates timing instruction information for specifying an instruction time that is a time of a next command for each of the control services, on a basis of the number of control services and the acquisition time of the individual command value of each of the control services, and notifies each of the control services of the generated timing instruction information;
• and
• an output command generation section that generates an output command value to be inputted to the control target, on a basis of the plurality of individual command values generated in each of the control services on a basis of the individual command values and acquisition times included in the command sharing information and the instruction time included in the timing instruction information.

A control mediation method that is adopted by a control system for controlling a control target by using a plurality of control services and that is configured to mediate individual command values that are commands from the control services, to the control target, the control mediation method comprising:

• assigning, to each of the plurality of individual command values, an acquisition time indicating a time at which the individual command value was acquired;
• notifying the plurality of control services of command sharing information including the individual command values and the acquisition times;
• generating timing instruction information for specifying an instruction time that is a time of a next command for each of the control services, on a basis of the number of control services and the acquisition time of the individual command value of each of the control services, and notifying each of the control services of the generated timing instruction information;
• and
• generating an output command value to be inputted to the control target, on a basis of the plurality of individual command values generated in each of the control services on a basis of the individual command values and acquisition times included in the command sharing information and the instruction time included in the timing instruction information.